VISVESVARAYA TECHNOLOGICAL UNIVERSITY

Jnanasangama, Macche, Santibastwada Road

Belagavi-590018, Karnataka

A
Technical Seminar Report
(19EC8ICTHS)
on

Defensive Ecological Adaptive Cruise Control Considering

Neighbouring Vehicles’Blind-Spot Zones

Submitted in partial fulfillment of the requirement for the degree of

Bachelor of Engineering
in
Electronics & Communication Engineering
by

Name of the BE student: Bhuvan cs gowda

USN: 1DS19EC026

Under the guidance

of
prof. Lavanya K
Internal Departmental Project Guide
Asst.prof, ECE Dept., DSCE, Bengaluru

Department of Electronics & Communication Engineering

(An Autonomous College affiliated to VTU Belgaum, accredited by NBA & NAAC)
Shavige Malleshwara Hills, Kumaraswamy Layout,
Bengaluru-560078, Karnataka, India
2022-23
 Declaration
Certified that the UG-BE TECHNICAL SEMINAR (19EC8ICTHS) work entitled,
Defensive Ecological Adaptive Cruise Control Considering Neighbouring
Vehicles’Blind-Spot Zones” is a bonafide work that was carried out by myself in
partial fulfillment for the award of degree of Bachelor of Engineering in Electronics &
Communication Engg. of the Visvesvaraya Technological University, Belagavi,
Karnataka during the academic year 2022-23 and I am solely responsible for all the
contents that has have been presented in it.
Student Signature:

Student Name:Bhuvan cs gowda

USN: 1DS19EC026

Tech. Seminar Guide Name Technical Seminar Section Coordinator Name

Sign & Date : Sign & Date :

Dr. Pavithra G. Dr. T.C.Manjunath, Ph.D. (IIT Bombay)

Technical Seminar Convener Prof. & Head of the Dept.
Associate Prof., ECE, DSCE ECE, DSCE

Sign, Date & Seal : Sign, Date & Seal :

Viva-Voce

Name of the Tech. Seminar Examiners :

1: Signature: _____________________

2: Signature: _____________________

Date: 08/04/2023 Place: Bengaluru-78

ii
 Abstract
In today’s world automotive industries are still putting efforts towards more autonomous vehicles
(AVs). The main concern of introducing the autonomous technology is safety of driver. According to a
survey 90% of accidents happen due to mistake of driver. The adaptive cruise control system (ACC) is
a system which combines cruise control with a collision avoidance system. The ACC system is based
on laser and radar technologies. This system is capable of controlling the velocity of vehicle
automatically to match the velocity of car, bus or truck in front of vehicle. If the lead vehicle gets slow
down or accelerate, than ACC system automatically matches that velocity. The proposed paper is
focusing on more accurate methods of detecting the preceding vehicle by using a radar and lidar sensors
by considering the vehicle side slip and by controlling the distance between two vehicles. By using this
approach i.e. logic for calculation of former vehicle distance and controlling the throttle valve of ACC
equipped vehicle, an improvement in driving stability was achieved. The own contribution results with
fuel efficient driving and with more safer and reliable driving system, but still some improvements are
going on to make it more safe and reliable
Adaptive cruise control (ACC) is an available cruise control advanced driver-assistance
system for road vehicles that automatically adjusts the vehicle speed to maintain a safe distance from
vehicles ahead. As of 2019, it is also called by 20 unique names that describe that basic functionality.
Control is based on sensor information from on-board sensors. Such systems may use
a radar or laser sensor or a camera setup allowing the vehicle to brake when it detects the car is
approaching another vehicle ahead, then accelerate when traffic allows it to. ACC technology is
regarded as a key component of future generations of intelligent cars.
This paper proposes a defensive ecological adaptive cruise control (D Eco-ACC) algorithm that is
capable of reducing an ego vehicle’s dwelling time in the blind spot zones (BSZs) of its neighbouring
vehicles. To this end, a model predictive control is applied in the use of information such as speed,
position, and blind spot zones about preceding and neighbouring vehicles. The cost function of the D
Eco-ACC consists of tracking performance, control effort, and dwelling time in BSZs. Specifically, a
continuous and one-time differentiable penalty function is introduced to handle the constraints
regarding the BSZs. For optimizing and evaluating the performance of the proposed D Eco-ACC, real-
world traffic data from Next Generation Simulation (NGSIM) are used to analyse and generate car-
following scenarios during highway driving. Especially, in consideration of the most probable case that
one neighbouring vehicle exists at one adjacent lane, a parametric study is conducted to investigate the
impact of the weighting factors on the performance of the D Eco-ACC. The simulation results from 100
cases demonstrate that on average, the D Eco-ACC with optimized weighting factors can reduce the
dwelling time in the neighbouring vehicles’ BSZs by 46.3% without significant deterioration of fuel
consumption (0.04% increase in average fuel consumption) and drivability, as compared to the Eco
ACC, whose primary objective is the minimization of fuel consumption during safe car-following.

iii
Table of Contents
Declaration ii
Abstract iii
Table of Contents iv

Chapter 1 Introduction 1
Chapter 2 Literature survey 2
Chapter 3 Problem Statement identified from the survey with methodology 3
Chapter 4 Scope and Objective 4
Chapter 5 Recommended solution (as per the survey) 5
5.1 Block Diagram and Flow Chart, DFD
5.2 Equations (if any)
5.3 Tools used to solve the problem
5.3 Figures
5.4 Results
Chapter 6 Conclusions, Advantages, Applications, Outcomes
References
Reference paper attached

iv
 Title of the Technical Seminar

CHAPTER 1
INTRODUCTION
With the rapid development of computers, electronics, and sensor technology, advanced driver
assistance systems (ADAS) have now become an important direction for development of the automotive
industry because they have great advantages in improving transportation efficiency and driving safety
. As an important branch of ADAS, ACC systems have a wide range of applications in car-following
scenarios.
Adaptive cruise control (ACC) is an available cruise control advanced driver-assistance system for road
vehicles that automatically adjusts the vehicle speed to maintain a safe distance from vehicles ahead.
As of 2019, it is also called by 20 unique names that describe that basic functionality. This is also known
as Dynamic cruise control.
Control is based on sensor information from on-board sensors. Such systems may use a radar or laser
sensor or a camera setup allowing the vehicle to brake when it detects the car is approaching another
vehicle ahead, then accelerate when traffic allows it to.
ACC technology is regarded as a key component of future generations of intelligent cars.
Advancements in advanced driving assistance systems (ADAS), together with connectivity
technologies, allow the achievement of the full potential benefits of automated vehicles via safe,
comfortable, and efficient driving, so-called eco-driving. Much effort has been invested in the area of
adaptive cruise control (ACC), one of the key features of ADAS for controlling longitudinal vehicle
dynamics for eco-driving. In particular, ecological adaptive cruise control (Eco-ACC) considers the
improvement of energy-efficiency as another critical objective in addition to maintaining a safe distance
from a preceding vehicle or a time gap (or time to collision).Since the energy efficiency of the ego
vehicle is significantly influenced by its preceding vehicle, most Eco-ACC algorithms use information
about the preceding vehicle. Furthermore, various forecasting algorithms provide the future behaiveour
of the preceding vehicle with a certain accuracy by using data from vehicle connectivity such as vehicle-
to vehicle (V2V) and vehicle-to-infrastructure .This availability of future information and the necessity
of handling safety constraints and multi-objective cost functions make model predictive control (MPC)
one of the notable trends toward eco-driving. For instance, the authors in propose an adaptive cruise
controller that functions by setting control decisions as multi-stage MPC constraints.

This controller can handle both cruise control and adaptive cruise control scenarios.

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 Title of the Technical Seminar
CHAPTER 2
LITERATURE SURVEY
Sl
Title of the paper
No.
Energy-efficient speed
01
profiles (eco driving)
‘‘Effect of a traffic speed
based cruise control on an
electric vehicle’s
02
performance and an energy
consumption model of an
electric vehicle,’’
Energy-optimal adaptive
cruise control for electric
03 vehicles based on
nonlinear model predictive
control
E&C Dept., DSCE
Source Findings
in Energy-Efficient
Driving of Road
A. Sciarretta and A.
Vehicles: Toward
Vahidi
Cooperative Connected
and Automated Mobility
Effect of a traffic speed
based cruise control on
A. K. an electric vehicle’s
Madhusudhanan and performance and an
X. Na energy consumption
model of an electric
vehicle
Energy-optimal adaptive
cruise control for electric
] Y. Jia, R. Jibrin, and
vehicles based on
D. Gorges
nonlinear model
predictive control
2022-23 Page 2
 Title of the Technical Seminar

CHAPTER 3

PROBLEM STATEMENT & METHODOLOGY

PROBLEM STATEMENT

Accidents are more now a days .So it is important to have adaptive cruise control model in vehicles to
ensure safety of people who is driving vehicles and it reduces fatality of injuries during accidents.

METHODOLOGY

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CHAPTER 4

SCOPE AND OBJECTIVE

SCOPE
The increasing rate of accidents caused by driver mistakes is making millions of people die every year.
There is a drastic improvement in the safety of vehicle by implementing many technologies like ABS,
Airbags, Obstacle avoidance sensors and many more. These technologies minimize the rate of fatality
but not avoiding accidents.

OBJECTIVE
The Adaptive Cruise Control was developed was developed to make driving safe and comfortable. It
reduces the number of brake and switch operation that are required of the driver. So this system reduces
the burden on driver so that the vehicle driver can be in comfort. ACC system provides fuel efficient
driving. Automatic acceleration and deceleration in the vehicle make it driving safer as well reliable.

• Reduced likelihood of collisions by controlling speed and increasing spacing.

• Less stress while driving long distances.
• Improved driving comfort, particularly for people with disabilities
• Easier commutes, especially for systems with stop-and-go capabilities.

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CHAPTER 5

RECOMMENDED SOLUTIONS

5.1 Block Diagrams, Flow Chart, Data Flow Diagrams

Flow Chart

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5.3 Figures

5.4 Results (Experimental / Simulated)

Adaptive cruise control (ACC) is an enhancement of conventional cruise control. ACC automatically
adjusts the speed of your car to match the speed of the car in front of you. If the car ahead slows down,
ACC can automatically match it.
This system soon will become essential as it provides more driving comfort and it adds to the safety of
road travel

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CHAPTER 6
CONCLUSIONS, ADVANTAGES, APPLICATIONS,
FUTURE SCOPE & OUTCOMES

CONCLUSIONS
The increasing rate of accidents caused by driver mistakes is making millions of people die every year.
There is a drastic improvement in the safety of vehicle by implementing many technologies like ABS,
Airbags, Obstacle avoidance sensors and many more. These technologies minimize the rate of fatality
but not avoiding accidents. ACC system provides assistance to the driver in driving in vehicle. We can
say that ACC is a medium of making driving perfect and keeping the vehicle away from accidents.
During foggy situation or in poor weather, driver is not able to judge the distance between the preceding
vehicles. But ACC system provides an easier way to drive in foggy and poor weather condition also.
ACC System has a potential to reduce the number of accidents. The Adaptive Cruise Control was
developed was developed to make driving safe and comfortable. It reduces the number of brake and
switch operation that are required of the driver. So this system reduces the burden on driver so that the
vehicle driver can be in comfort. ACC system provides fuel efficient driving. Automatic acceleration
and deceleration in the vehicle make it driving safer as well reliable.

ADVANTAGES
 Reducing driver stress: No question, the number one benefit of ACC is allowing the driver
to relax a bit. The system assumes the responsibility of slowing and accelerating to adjust to
traffic flow. It doesn’t mean the driver gives up control, but the system assumes the workload
of keeping pace with the traffic flow.
 Stop and go: With more intelligent systems, ACC assumes complete control of braking and
accelerating. In other words, it can bring the vehicle to a full stop and then accelerate as the
flow of traffic resumes. Some systems will disengage after stopping and leaves it to the driver
to push the “Resume” button or tap the accelerator to get moving again. However, more
sophisticated systems will accelerate themselves from a complete stop.
 Easy to use: For drivers not able (or willing) to read a car manual before setting out on the
highway, you can fiddle with the ACC system and pick it up with little practice.
 Good Fuel Economy

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 When you apply pressure to the gas pedal, it burns fuel. Cruise control keeps the gas pedal in
one position so that you are not inadvertently consuming more fuel than you need to. This
helps optimize your fuel economy (in most cases).
 Better Driving Comfort
 If you are going on a long drive, it can get tiring to have to keep your foot on the gas pedal for
several hours on end.
 Avoid Speeding
 Speeding is not always intentional. A driver may go faster than the speed limit because
they’re pressing harder on the gas pedal without realizing it.

 Reduced likelihood of collisions by controlling speed and increasing spacing.

 Less stress while driving long distances.
 Improved driving comfort, particularly for people with disabilities
 Easier commutes, especially for systems with stop-and-go capabilities.

APPLICATIONS
 Blind spot monitoring
 Adaptive headlights
 Following distance warning
 Automatic parking
 Navigation system
 Detection of driver drowsiness

FUTURE SCOPE
Conventional Cruise Control can maintain a steady speed that you set. Adaptive cruise control (ACC)
is an enhancement of conventional cruise control. ACC automatically adjusts the speed of your car to
match the speed of the car in front of you. If the car ahead slows down, ACC can automatically match
it. Once the car ahead moves out of your lane or accelerates beyond your car’s set speed, your ACC
allows your car to return to the speed that you have set. Other than setting your speed, you only need to
turn on the system and select your preferred following distance.

OUTCOMES
Defensive ecological adaptive cruise control (D Eco-ACC) method to proactively avoid the

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neighbouring vehicles’ BSZs during car-following. Unlike the existing Eco-ACC utilizing
information about the preceding vehicle only, the proposed D Eco-ACC utilizes the neighbouring
vehicles’ speeds and positions and their BSZs.
The increasing rate of accidents caused by driver mistakes is making millions of people die every
year. There is a drastic improvement in the safety of vehicle by implementing many technologies
like ABS, Airbags, Obstacle avoidance sensors and many more. These technologies minimize the
rate of fatality but not avoiding accidents.

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REFERENCES
[1] A. Sciarretta and A. Vahidi, ‘‘Energy-efficient speed profiles (ecodriving),’’ in Energy-Efficient Driving of
Road Vehicles: Toward Cooperative Connected and Automated Mobility. Cham, Switzerland: Springer, 2020,
pp. 131–178.

[2] A.K Madhusudhanan and X. Na, ‘‘Effect of a traffic speed based cruise control on an electric vehicle’s
performance and an energy consumption model of an electric vehicle,’’ IEEE/CAA J. Automatica Sinica, vol. 7,
no. 2, pp. 386–394, Mar. 2020.

[3] Y. Jia, R. Jibrin, and D. Gorges, ‘‘Energy-optimal adaptive cruise control for electric vehicles based on
nonlinear model predictive control,’’ in Proc. IEEE Vehicle Power Propuls. Conf. (VPPC), Oct. 2019, pp. 1–7.

[4] Y. Zhu, D. Zhao, and H. He, ‘‘Synthesis of cooperative adaptive cruise control with feedforward strategies,’’
IEEE Trans. Veh. Technol., vol. 69, no. 4, pp. 3615–3627, Apr. 2020.

[5] Y. He, Q. Zhou, M. Makridis ,K. Mattas, J. Li, H. Williams, and H. Xu, ‘‘Multi objective co-optimization of
cooperative adaptive cruise control and energy management strategy for PHEVs,’’ IEEE Trans. Transport.
Electric., vol. 6, no. 1, pp. 346–355, Mar. 2020.

[6] M. I. Miftakhudin, A. Subiantoro, and F. Yusivar, ‘‘Adaptive cruise control by considering control decision
as multistage MPC constraints,’’ in Proc. IEEE Conf. Energy Convers. (CENCON), Oct. 2019, pp. 171–176.

[7] B. Sakhdari, M. vajedi, and N. L. Azad, ‘‘Ecological adaptive cruise control of a plug-in hybrid electric
vehicle for urban driving,’’ in Proc. IEEE 19th Int. Conf. Intel. Transp. Syst. (ITSC), Nov. 2016, pp. 1739–
1744.

[8] D. He, W. He, and X. Song, ‘‘Efficient predictive cruise control of autonomous vehicles with improving
ride comfort and safety,’’ Meas. Control, vol. 53, nos. 1–2, pp. 18–28, Jan. 2020.

[9] M. Á. Sotelo and J .barriga, ‘‘Blind spot detection using vision for automotive applications,’’ J. Zhejiang
Univ.-Sci. A, vol. 9, no. 10, pp. 1369–1372, Oct. 2008.

[10] J. Kim and D. kum, ‘‘Collision risk assessment algorithm via lane-based probabilistic motion prediction of
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[11] D. Lang, T. Stanger, and L. del Re, ‘‘Opportunities on fuel economy utilizing V2V based drive systems,’’
SAE Tech. Paper 2013-01-0985, Apr. 2013.

[12] S. Darbha, S. Konduri, and P. R. Pagilla, ‘‘Effects of V2 V communication on time headway for
autonomous vehicles,’’ in Proc. Amer. Control Conf. (ACC), May 2017, pp. 2002–2007.

[13] A. Schuster, An Introduction to the Theory of Optics. London, U.K.: E. Arnold, 1094.

[14] J. E. Greivenkamp, Field Guide to Geometrical Optics. Bellingham, WA, USA: SPIE Press, 2004.

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